JPH0788675B2 - Bucket angle detector for swivel excavator - Google Patents
Bucket angle detector for swivel excavatorInfo
- Publication number
- JPH0788675B2 JPH0788675B2 JP29991386A JP29991386A JPH0788675B2 JP H0788675 B2 JPH0788675 B2 JP H0788675B2 JP 29991386 A JP29991386 A JP 29991386A JP 29991386 A JP29991386 A JP 29991386A JP H0788675 B2 JPH0788675 B2 JP H0788675B2
- Authority
- JP
- Japan
- Prior art keywords
- bucket
- angle
- angle detector
- arm
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
- Component Parts Of Construction Machinery (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 この発明は作業を制御するのに必要なバケツトの角度を
電気的に検出するための旋回掘削機のバケツト角度検出
装置に関する。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bucket angle detecting device for a swing excavator for electrically detecting a bucket angle required for controlling work.
従来パワシヨベルのようにバケツトを有する旋回掘削機
の作業機を自動制御する場合、バケツトの角度を検出す
ることが必要となる。When automatically controlling a working machine of a swing excavator having a bucket like a power shovel, it is necessary to detect the angle of the bucket.
従来ではこのバケツト角度の検出を、第６図に示すよう
にアームａにバケツトｂを取付けているアームトツプピ
ンｃや、アームａにチルトレバｄを取付けているピンｅ
に角度検出器ｆを取付けて、アームａに対するバケツト
ｂの角度を検出する方法が一般に用いられている。Conventionally, as shown in FIG. 6, the detection of the bucket angle is performed by using an arm top pin c having a bucket b attached to the arm a or a pin e having a tilt lever d attached to the arm a.
A method of mounting an angle detector f on and detecting the angle of the bucket b with respect to the arm a is generally used.
しかし前者の角度検出器ｆをアームトツプピンに取付け
たものでは、バケツトｂを交換する毎に角度検出器ｆを
取外さなければならず、また、バケツトｂを取付けた後
も角度検出器ｆのオフセツト調整が必要であるため、取
扱いが面倒であると共に、作業中岩石などが角度検出器
ｆに当つて破損しやすいなどの不具合がある。However, in the former case in which the angle detector f is attached to the arm top pin, the angle detector f must be removed every time the bucket b is replaced, and the angle detector f is attached even after the bucket b is attached. Since the offset adjustment is required, it is troublesome to handle and there is a problem that rocks and the like are likely to hit the angle detector f and be damaged during the work.
一方後者のチルトレバｄを取付けているピンｅに設けた
ものでは、バケツトｂとチルトレバｄの回転角は同一で
ないため、角度検出器ｆが検出した値よりバケツトｂの
角度を演算により求める必要があり、高速性が要求され
る制御では、高速演算処理が可能な制御装置が必要とな
るため、装置全体が高価となる不具合がある。On the other hand, in the latter one provided on the pin e to which the tilt lever d is attached, since the rotation angles of the bucket b and the tilt lever d are not the same, it is necessary to calculate the angle of the bucket b from the value detected by the angle detector f. In the control requiring high speed, a control device capable of high-speed arithmetic processing is required, which causes a problem that the entire device becomes expensive.
さらに予め制御装置ないにROMテーブルを用意して、角
度検出器ｄが検出した値と上記ROMテーブルを照合する
ことによりバケツトｂの角度を換算する方法もあるが、
この方法でもバケツトｂを交換した場合、バケツトｂの
角度検出ができなくなる不具合がある。Further, there is also a method of converting the angle of the bucket b by preparing a ROM table in the control device in advance and comparing the value detected by the angle detector d with the ROM table.
Even with this method, if the bucket b is replaced, the angle of the bucket b cannot be detected.
この発明は上記不具合を解消する目的でなされたもので
ある。The present invention has been made for the purpose of solving the above problems.
上部旋回体に装着された作業機のアーム先端に着脱自在
にバケツトを取付け、このバケツトをバケツトシリンダ
によりチルトレバ及びリンクを介して回動すると共に、
上記チルトレバをアームに枢支するピンまたはその近傍
に角度検出器14を設けたものにおいて、上記角度検出器
が検出した角度データをバケツト角度に換算する角度換
算データを記憶した記憶装置を制御装置内に設けると共
に、上記記憶装置を、交換したバケツトに応じて書き替
え自在とすることにより、バケツト交換毎に角度検出器
のオフセツト調整を不用にした旋回掘削機のバケツト角
度検出器。A bucket is removably attached to the tip of the arm of the working machine mounted on the upper swing body, and the bucket is rotated by the bucket cylinder via the tilt lever and the link.
In the one in which the angle detector 14 is provided in the pin pivotally supporting the tilt lever on the arm or in the vicinity thereof, a storage device storing angle conversion data for converting the angle data detected by the angle detector into a bucket angle is provided in the control device. A bucket angle detector for a swivel excavator in which the storage device is rewritable according to the bucket that has been exchanged so that the offset adjustment of the angle detector is not required every time the bucket is exchanged.
この発明の一実施例を図面を参照して詳述する。 An embodiment of the present invention will be described in detail with reference to the drawings.
図においては１は旋回掘削機で、足まわり２上に上部旋
回体３が旋回自在に設けられている。上記上部旋回体３
の前部には運転室４及び作業機５が設けられている。In the figure, 1 is a turning excavator, and an upper turning body 3 is provided on a suspension 2 so as to be freely turnable. The upper revolving structure 3
A driver's cab 4 and a working machine 5 are provided in the front part of the.
作業機５は、ブームシリンダ６により起伏自在なブーム
７と、ブーム７の先端に枢着され、アームシリンダ８に
より回動自在なアーム９と、アーム９先端に取付けら
れ、バケツトシリンダ10によりチルトレバ11及びリンク
12を介して回動自在なバケツト13とよりなる。The work machine 5 is provided with a boom cylinder 6 which can be lifted and lowered by a boom cylinder 6, an arm 9 which is pivotally attached to the tip of the boom 7, and which is rotatable by an arm cylinder 8, and which is attached to the tip of the arm 9. The tilt cylinder is attached by a bucket cylinder 10. 11 and links
It is composed of a bucket 13 which is rotatable via 12.
そして上記バケツト13の角度を検出する角度検出器14は
上記チルトレバ11をアーム９に枢着しているピン15とア
ーム９の間に設置されている。An angle detector 14 for detecting the angle of the bucket 13 is installed between the pin 15 and the arm 9 which pivotally attach the tilt lever 11 to the arm 9.
一方上記角度検出器14で検出された角度データ16は第２
図に示す制御装置17へ取込まれるようになつている。On the other hand, the angle data 16 detected by the angle detector 14 is the second
It is designed to be taken into the control device 17 shown in the figure.
制御装置17はマイクロコンピユータよりなる演算処理装
置18と、記憶装置19を有する。The control device 17 has an arithmetic processing device 18 including a microcomputer and a storage device 19.
上記記憶装置19は書込み及び消去が可能なEPROMやバツ
テリによりバツクアツプされたRAMよりなり、キーボー
ドなどのデータ入力装置20により記憶内容が任意に変換
可能となつている。The storage device 19 is composed of a writable and erasable EPROM and a RAM backed up by a battery, and a data input device 20 such as a keyboard allows the storage contents to be arbitrarily converted.
すなわち上記記憶装置19には現在アーム９に取付けられ
ているバケツト13に対応した角度換算データが記憶され
ている。That is, the storage device 19 stores angle conversion data corresponding to the bucket 13 currently attached to the arm 9.
次に作用を説明すると、作業時バケツト13の角度はチル
トレバ11を枢支するピン15に設けた角度検出器14により
検出される。The operation will be described below. The angle of the bucket 13 during work is detected by the angle detector 14 provided on the pin 15 that pivotally supports the tilt lever 11.
チルトレバ11の回転角とバケツト13の回転角は同一では
ないので、角度検出器14で検出された角度は制御装置17
へ取込まれ、次のようにバケツト角度が換算される。Since the rotation angle of the tilt lever 11 and the rotation angle of the bucket 13 are not the same, the angle detected by the angle detector 14 is determined by the controller 17
And the bucket angle is converted as follows.
これを第４図に示すフローチヤートで説明すると、演算
処理装置18はステツプで角度検出器14が検出した角度
データ16が読込まれ、ステツプへ進む。ステツプで
は読込まれた角度データと記憶装置19に記憶されている
角度換算データを照合することにより、バケツト13の角
度が換算される。This will be described with reference to the flow chart shown in FIG. 4. The processing device 18 reads the angle data 16 detected by the angle detector 14 in step, and proceeds to step. In step, the angle of the bucket 13 is converted by collating the read angle data with the angle conversion data stored in the storage device 19.
演算処理装置18は得られたバケツト角度に応じて各部の
制御信号21を作業機制御系へと出力するため、バケツト
角度に応じて作業機５の各部が制御され、自動掘削など
の作業が可能となる。Since the arithmetic processing unit 18 outputs the control signal 21 of each part to the working machine control system according to the obtained bucket angle, each part of the working machine 5 is controlled according to the bucket angle, and work such as automatic excavation is possible. Becomes
なお制御装置17の出力を表示器へ送つて、バケツト角を
運転室に設けた表示器（図示せず）へ表示させるように
してもよい。The output of the control device 17 may be sent to a display device so that the bucket angle can be displayed on a display device (not shown) provided in the cab.
一方バケツト13を交換した場合は、交換したバケツト13
の幾何学的データ22をデータ入力装置20より入力して記
憶装置19の書き替えを行う。On the other hand, if the bucket 13 is replaced, the replaced bucket 13
The geometric data 22 is input from the data input device 20 to rewrite the storage device 19.
次にこれを第５図に示すフローチヤートにより説明する
と、バケツト13の幾何学的データ22は予めバケツト13毎
に用意されていて、バケツト13の交換が完了したら制御
装置17を書込みモードにしてステツプへ進み、データ
入力装置20よりそのバケツト13の幾何学的データ22を入
力する。演算処理装置18は入力された幾何学的データ22
より、角度検出器14が検出した角度データに対するバケ
ツトの角度をステツプで算出し、角度換算データテー
ブルを作成してテーブル値をステツプで記憶装置18へ
書込む。This will be described below with reference to the flow chart shown in FIG. 5. The geometrical data 22 of the bucket 13 is prepared for each bucket 13 in advance, and when the exchange of the bucket 13 is completed, the controller 17 is set to the write mode and stepped. Proceed to and the geometric data 22 of the bucket 13 is input from the data input device 20. The arithmetic processing unit 18 inputs the geometrical data 22
Then, the angle of the bucket with respect to the angle data detected by the angle detector 14 is calculated in step, an angle conversion data table is created, and the table value is written in the storage device 18 in step.
これによつて以後角度検出器14が検出した角度データ16
は、新たに記憶された角度換算データよりバケツト角に
換算されるため、バケツト13を交換しても従来のように
角度検出器14のオフセツト調整は何等必要としない。As a result, the angle data 16 detected by the angle detector 14 thereafter is
Is converted into a bucket angle from the newly stored angle conversion data, and therefore, even if the bucket 13 is replaced, the offset adjustment of the angle detector 14 is not required unlike the conventional case.
この発明は以上詳述したように、制御装置内に書込み消
去が可能な記憶装置を設けて、バケツト交換毎に、バケ
ツトに応じて角度換算データを書き替えるようにしたこ
とから、バケツトを交換しても従来のように角度検出器
のオフセツト調整が不用となるため、バケツトの交換作
業が短時間で行なえるようになる。また角度検出器が検
出した角度データを記憶装置に記憶された角度換算デー
タと照合するだけでバケツト角が算出できるため、高速
演算が可能な演算処理装置を必要とせず、これによつて
制御装置に安価なものが利用できるため経済的である。As described in detail above, according to the present invention, the control device is provided with a writable and erasable storage device, and the angle conversion data is rewritten according to the bucket every time the bucket is replaced. Therefore, the bucket is replaced. However, since the offset adjustment of the angle detector is not required as in the conventional case, the bucket can be replaced in a short time. Further, since the bucket angle can be calculated only by collating the angle data detected by the angle detector with the angle conversion data stored in the storage device, an arithmetic processing unit capable of high-speed calculation is not required, which allows the control device to operate. It is economical because cheap ones are available.
図面はこの発明の一実施例を示し、第１図は旋回掘削機
の側面図、第２図はこの装置のブロツク図、第３図はデ
ータ書き込み時のブロツク図、第４図及び第５図は作用
を示すフローチヤート、第６図は従来の説明図である。 ３は上部旋回体、５は作業機、９はアーム、11はチルト
レバ、12はリンク、14は角度検出器、15はピン、16は角
度データ、17は制御装置、19は記憶装置。The drawings show one embodiment of the present invention. Fig. 1 is a side view of a rotary excavator, Fig. 2 is a block diagram of this device, Fig. 3 is a block diagram at the time of writing data, Figs. 4 and 5. Is a flow chart showing the action, and FIG. 6 is a conventional explanatory view. 3 is an upper swing body, 5 is a working machine, 9 is an arm, 11 is a tilt lever, 12 is a link, 14 is an angle detector, 15 is a pin, 16 is angle data, 17 is a control device, 19 is a storage device.
Claims (1)
ム９先端に着脱自在にバケツト13を取付け、このバケツ
ト13をバケツトシリンダ10によりチルトレバ11及びリン
ク12を介して回動すると共に、上記チルトレバ11をアー
ム９に枢支するピン15またはその近傍に角度検出器14を
設けたものにおいて、上記角度検出器14が検出した角度
データ16をバケツト角度に換算する角度換算データを記
憶した記憶装置19を制御装置17内に設けると共に、上記
記憶装置19を、交換したバケツト13に応じて書き替え自
在としてなる旋回掘削機のバケツト角度検出装置。1. A bucket 13 is detachably attached to the tip of an arm 9 of a working machine 5 mounted on an upper revolving structure 3, and the bucket 13 is rotated by a bucket cylinder 10 via a tilt lever 11 and a link 12. The angle conversion data for converting the angle data 16 detected by the angle detector 14 into a bucket angle is stored in the pin 15 for pivotally supporting the tilt lever 11 on the arm 9 or in the vicinity thereof. A bucket angle detecting device for a swivel excavator, in which a storage device 19 is provided in a control device 17, and the storage device 19 is rewritable according to the exchanged bucket 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29991386A JPH0788675B2 (en) | 1986-12-18 | 1986-12-18 | Bucket angle detector for swivel excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29991386A JPH0788675B2 (en) | 1986-12-18 | 1986-12-18 | Bucket angle detector for swivel excavator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63156126A JPS63156126A (en) | 1988-06-29 |
| JPH0788675B2 true JPH0788675B2 (en) | 1995-09-27 |
Family
ID=17878440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29991386A Expired - Lifetime JPH0788675B2 (en) | 1986-12-18 | 1986-12-18 | Bucket angle detector for swivel excavator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0788675B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101493361B1 (en) * | 2013-02-08 | 2015-02-16 | 김진선 | Tracking control system and method for the path of excavating machine's bucket |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09111798A (en) * | 1995-10-16 | 1997-04-28 | Sumitomo Constr Mach Co Ltd | Interference preventing equipment for working machine in construction machinery |
| WO2000034591A1 (en) * | 1998-12-04 | 2000-06-15 | Shin Caterpillar Mitsubishi Ltd. | Construction machine |
-
1986
- 1986-12-18 JP JP29991386A patent/JPH0788675B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101493361B1 (en) * | 2013-02-08 | 2015-02-16 | 김진선 | Tracking control system and method for the path of excavating machine's bucket |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS63156126A (en) | 1988-06-29 |
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